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<hr><h1>matrix.cpp</h1><a href="matrix_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001 
00007 <font class="comment">/* Copyright, 2000 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025 
00026 <font class="preprocessor">#include "<a class="code" href="stdmisc_8h.html">stdmisc.h</a>"</font>
00027 
00028 <font class="preprocessor">#include "<a class="code" href="matrix_8h.html">nel/misc/matrix.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="plane_8h.html">nel/misc/plane.h</a>"</font>
00030 <font class="preprocessor">#include "<a class="code" href="debug_8h.html">nel/misc/debug.h</a>"</font>
00031 
00032 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00033 
00034 
00035 
00036 <font class="keyword">namespace       </font>NLMISC
00037 {
00038 
00039 
00040 <font class="comment">// ======================================================================================================</font>
<a name="l00041"></a><a class="code" href="classNLMISC_1_1CMatrix.html#p0">00041</a> <font class="keyword">const</font> CMatrix   CMatrix::Identity;
00042 
00043 
00044 <font class="comment">// ======================================================================================================</font>
00045 <font class="comment">// ======================================================================================================</font>
00046 <font class="comment">// ======================================================================================================</font>
00047 
00048 
00049 <font class="comment">// State Bits.</font>
<a name="l00050"></a><a class="code" href="matrix_8cpp.html#a0">00050</a> <font class="preprocessor">#define MAT_TRANS               1</font>
<a name="l00051"></a><a class="code" href="matrix_8cpp.html#a1">00051</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_ROT                 2</font>
<a name="l00052"></a><a class="code" href="matrix_8cpp.html#a2">00052</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_SCALEUNI    4</font>
<a name="l00053"></a><a class="code" href="matrix_8cpp.html#a3">00053</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_SCALEANY    8</font>
<a name="l00054"></a><a class="code" href="matrix_8cpp.html#a4">00054</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_PROJ                16</font>
00055 <font class="preprocessor"></font><font class="comment">// Validity bits. These means that the part may be yet identity, but is valid in the floats.</font>
00056 <font class="comment">// NB: MAT_VALIDTRANS no more used for faster Pos access</font>
<a name="l00057"></a><a class="code" href="matrix_8cpp.html#a5">00057</a> <font class="preprocessor">#define MAT_VALIDROT    64</font>
<a name="l00058"></a><a class="code" href="matrix_8cpp.html#a6">00058</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_VALIDPROJ   128</font>
<a name="l00059"></a><a class="code" href="matrix_8cpp.html#a7">00059</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_VALIDALL    (MAT_VALIDROT | MAT_VALIDPROJ)</font>
00060 <font class="preprocessor"></font><font class="comment">// The identity is nothing.</font>
<a name="l00061"></a><a class="code" href="matrix_8cpp.html#a8">00061</a> <font class="preprocessor">#define MAT_IDENTITY    0</font>
00062 <font class="preprocessor"></font>
00063 
00064 
00065 <font class="comment">// Matrix elements.</font>
<a name="l00066"></a><a class="code" href="matrix_8cpp.html#a9">00066</a> <font class="preprocessor">#define a11             M[0]</font>
<a name="l00067"></a><a class="code" href="matrix_8cpp.html#a10">00067</a> <font class="preprocessor"></font><font class="preprocessor">#define a21             M[1]</font>
<a name="l00068"></a><a class="code" href="matrix_8cpp.html#a11">00068</a> <font class="preprocessor"></font><font class="preprocessor">#define a31             M[2]</font>
<a name="l00069"></a><a class="code" href="matrix_8cpp.html#a12">00069</a> <font class="preprocessor"></font><font class="preprocessor">#define a41             M[3]</font>
<a name="l00070"></a><a class="code" href="matrix_8cpp.html#a13">00070</a> <font class="preprocessor"></font><font class="preprocessor">#define a12             M[4]</font>
<a name="l00071"></a><a class="code" href="matrix_8cpp.html#a14">00071</a> <font class="preprocessor"></font><font class="preprocessor">#define a22             M[5]</font>
<a name="l00072"></a><a class="code" href="matrix_8cpp.html#a15">00072</a> <font class="preprocessor"></font><font class="preprocessor">#define a32             M[6]</font>
<a name="l00073"></a><a class="code" href="matrix_8cpp.html#a16">00073</a> <font class="preprocessor"></font><font class="preprocessor">#define a42             M[7]</font>
<a name="l00074"></a><a class="code" href="matrix_8cpp.html#a17">00074</a> <font class="preprocessor"></font><font class="preprocessor">#define a13             M[8]</font>
<a name="l00075"></a><a class="code" href="matrix_8cpp.html#a18">00075</a> <font class="preprocessor"></font><font class="preprocessor">#define a23             M[9]</font>
<a name="l00076"></a><a class="code" href="matrix_8cpp.html#a19">00076</a> <font class="preprocessor"></font><font class="preprocessor">#define a33             M[10]</font>
<a name="l00077"></a><a class="code" href="matrix_8cpp.html#a20">00077</a> <font class="preprocessor"></font><font class="preprocessor">#define a43             M[11]</font>
<a name="l00078"></a><a class="code" href="matrix_8cpp.html#a21">00078</a> <font class="preprocessor"></font><font class="preprocessor">#define a14             M[12]</font>
<a name="l00079"></a><a class="code" href="matrix_8cpp.html#a22">00079</a> <font class="preprocessor"></font><font class="preprocessor">#define a24             M[13]</font>
<a name="l00080"></a><a class="code" href="matrix_8cpp.html#a23">00080</a> <font class="preprocessor"></font><font class="preprocessor">#define a34             M[14]</font>
<a name="l00081"></a><a class="code" href="matrix_8cpp.html#a24">00081</a> <font class="preprocessor"></font><font class="preprocessor">#define a44             M[15]</font>
00082 <font class="preprocessor"></font>
00083 
00084 
00085 <font class="comment">// ======================================================================================================</font>
00086 <font class="comment">// ======================================================================================================</font>
00087 <font class="comment">// ======================================================================================================</font>
00088 
00089 
00090 
00091 <font class="comment">// ======================================================================================================</font>
<a name="l00092"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_1">00092</a> <font class="keywordtype">bool</font>            CMatrix::hasScalePart()<font class="keyword"> const</font>
00093 <font class="keyword"></font>{
00094         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;(<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>))!=0;
00095 }
<a name="l00096"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_4">00096</a> <font class="keywordtype">bool</font>            CMatrix::hasProjectionPart()<font class="keyword"> const</font>
00097 <font class="keyword"></font>{
00098         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)!=0;
00099 }
00100 
00101 
<a name="l00102"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_2">00102</a> <font class="keywordtype">bool</font>            CMatrix::hasScaleUniform()<font class="keyword"> const</font>
00103 <font class="keyword"></font>{
00104         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>)!=0 &amp;&amp; (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>)==0;
00105 }
<a name="l00106"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_3">00106</a> <font class="keywordtype">float</font>           CMatrix::getScaleUniform()<font class="keyword"> const</font>
00107 <font class="keyword"></font>{
00108         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#z295_2">hasScaleUniform</a>())
00109                 <font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>;
00110         <font class="keywordflow">else</font>
00111                 <font class="keywordflow">return</font> 1;
00112 }
00113 
00114 
00115 
00116 <font class="comment">// ======================================================================================================</font>
<a name="l00117"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c7">00117</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font>     CMatrix::hasRot()<font class="keyword"> const</font>
00118 <font class="keyword"></font>{
00119         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;(<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>))!=0;
00120 }
<a name="l00121"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c6">00121</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font>     CMatrix::hasTrans()<font class="keyword"> const</font>
00122 <font class="keyword"></font>{
00123         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>)!=0;
00124 }
<a name="l00125"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c8">00125</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font>     CMatrix::hasProj()<font class="keyword"> const</font>
00126 <font class="keyword"></font>{
00127         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)!=0;
00128 }
<a name="l00129"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c9">00129</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font>     CMatrix::hasAll()<font class="keyword"> const</font>
00130 <font class="keyword"></font>{
00131         <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() &amp;&amp; <a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() &amp;&amp; <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>());
00132 }
00133 
00134 
<a name="l00135"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c10">00135</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CMatrix::testExpandRot()<font class="keyword"> const</font>
00136 <font class="keyword"></font>{
00137         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00138                 <font class="keywordflow">return</font>;
00139         <font class="keywordflow">if</font>(!(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>))
00140         {
00141                 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *self= const_cast&lt;CMatrix*&gt;(this);
00142                 self-&gt;StateBit|=<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00143                 self-&gt;a11= 1; self-&gt;a12=0; self-&gt;a13=0;
00144                 self-&gt;a21= 0; self-&gt;a22=1; self-&gt;a23=0;
00145                 self-&gt;a31= 0; self-&gt;a32=0; self-&gt;a33=1;
00146                 self-&gt;Scale33= 1;
00147         }
00148 }
<a name="l00149"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c11">00149</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CMatrix::testExpandProj()<font class="keyword"> const</font>
00150 <font class="keyword"></font>{
00151         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
00152                 <font class="keywordflow">return</font>;
00153         <font class="keywordflow">if</font>(!(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;<a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>))
00154         {
00155                 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *self= const_cast&lt;CMatrix*&gt;(this);
00156                 self-&gt;StateBit|=<a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00157                 self-&gt;a41=0; self-&gt;a42=0; self-&gt;a43=0; self-&gt;a44=1; 
00158         }
00159 }
00160 
00161 
00162 <font class="comment">// ======================================================================================================</font>
<a name="l00163"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z289_1">00163</a> CMatrix::CMatrix(<font class="keyword">const</font> CMatrix &amp;m)
00164 {
00165         (*this)= m;
00166 }
00167 <font class="comment">// ======================================================================================================</font>
<a name="l00168"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z289_2">00168</a> CMatrix         &amp;CMatrix::operator=(<font class="keyword">const</font> CMatrix &amp;m)
00169 {
00170         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= m.StateBit &amp; ~<a class="code" href="matrix_8cpp.html#a7">MAT_VALIDALL</a>;
00171         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c9">hasAll</a>())
00172         {
00173                 memcpy(<a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>, m.M, 16*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00174                 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m.Scale33;
00175         }
00176         <font class="keywordflow">else</font>
00177         {
00178                 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00179                 {
00180                         memcpy(&amp;<a class="code" href="matrix_8cpp.html#a9">a11</a>, &amp;m.a11, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00181                         memcpy(&amp;<a class="code" href="matrix_8cpp.html#a13">a12</a>, &amp;m.a12, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00182                         memcpy(&amp;<a class="code" href="matrix_8cpp.html#a17">a13</a>, &amp;m.a13, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00183                         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m.Scale33;
00184                 }
00185                 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
00186                 {
00187                         <a class="code" href="matrix_8cpp.html#a12">a41</a>= m.a41;
00188                         <a class="code" href="matrix_8cpp.html#a16">a42</a>= m.a42;
00189                         <a class="code" href="matrix_8cpp.html#a20">a43</a>= m.a43;
00190                         <a class="code" href="matrix_8cpp.html#a24">a44</a>= m.a44;
00191                 }
00192                 <font class="comment">// Must always copy Trans part.</font>
00193                 memcpy(&amp;<a class="code" href="matrix_8cpp.html#a21">a14</a>, &amp;m.a14, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00194         }
00195         <font class="keywordflow">return</font> *<font class="keyword">this</font>;
00196 }
00197 
00198 
00199 <font class="comment">// ======================================================================================================</font>
<a name="l00200"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">00200</a> <font class="keywordtype">void</font>            CMatrix::identity()
00201 {
00202         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= <a class="code" href="matrix_8cpp.html#a8">MAT_IDENTITY</a>;
00203         <font class="comment">// Reset just Pos because must always be valid for faster getPos()</font>
00204         <a class="code" href="matrix_8cpp.html#a21">a14</a>= <a class="code" href="matrix_8cpp.html#a22">a24</a>= <a class="code" href="matrix_8cpp.html#a23">a34</a>= 0;
00205         <font class="comment">// For optimisation it would be usefull to keep MAT_VALID states.</font>
00206         <font class="comment">// But this slows identity(), and this may not be interesting...</font>
00207 }
00208 <font class="comment">// ======================================================================================================</font>
<a name="l00209"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_1">00209</a> <font class="keywordtype">void</font>            CMatrix::setRot(<font class="keyword">const</font> CVector &amp;i, <font class="keyword">const</font> CVector &amp;j, <font class="keyword">const</font> CVector &amp;k, <font class="keywordtype">bool</font> hintNoScale)
00210 {
00211         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00212         <font class="keywordflow">if</font>(hintNoScale)
00213                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~(<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>);
00214         <a class="code" href="matrix_8cpp.html#a9">a11</a>= i.x; <a class="code" href="matrix_8cpp.html#a13">a12</a>= j.x; <a class="code" href="matrix_8cpp.html#a17">a13</a>= k.x; 
00215         <a class="code" href="matrix_8cpp.html#a10">a21</a>= i.y; <a class="code" href="matrix_8cpp.html#a14">a22</a>= j.y; <a class="code" href="matrix_8cpp.html#a18">a23</a>= k.y; 
00216         <a class="code" href="matrix_8cpp.html#a11">a31</a>= i.z; <a class="code" href="matrix_8cpp.html#a15">a32</a>= j.z; <a class="code" href="matrix_8cpp.html#a19">a33</a>= k.z; 
00217         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
00218 }
00219 <font class="comment">// ======================================================================================================</font>
<a name="l00220"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_2">00220</a> <font class="keywordtype">void</font>            CMatrix::setRot(<font class="keyword">const</font> <font class="keywordtype">float</font> m33[9], <font class="keywordtype">bool</font> hintNoScale)
00221 {
00222         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00223         <font class="keywordflow">if</font>(hintNoScale)
00224                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~(<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>);
00225         <a class="code" href="matrix_8cpp.html#a9">a11</a>= m33[0]; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m33[3]; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m33[6]; 
00226         <a class="code" href="matrix_8cpp.html#a10">a21</a>= m33[1]; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m33[4]; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m33[7]; 
00227         <a class="code" href="matrix_8cpp.html#a11">a31</a>= m33[2]; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m33[5]; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m33[8]; 
00228         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
00229 }
00230 <font class="comment">// ======================================================================================================</font>
<a name="l00231"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_3">00231</a> <font class="keywordtype">void</font>            CMatrix::setRot(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>, TRotOrder ro)
00232 {
00233         <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>         rot;
00234         rot.identity();
00235         rot.rotate(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>, ro);
00236         <font class="keywordtype">float</font>   m33[9];
00237         rot.getRot(m33);
00238         <a class="code" href="classNLMISC_1_1CMatrix.html#z290_1">setRot</a>(m33, <font class="keyword">true</font>);
00239 }
00240 
00241 
00242 <font class="comment">// ======================================================================================================</font>
<a name="l00243"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_5">00243</a> <font class="keywordtype">void</font>            CMatrix::setRot(<font class="keyword">const</font> CMatrix &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>)
00244 {
00245         <font class="comment">// copy rotpart statebit from other.</font>
00246         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~(<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>);
00247         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.StateBit &amp; (<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>);
00248         <font class="comment">// copy values.</font>
00249         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00250         {
00251                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a13;
00252                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a23;
00253                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a33;
00254                 <font class="comment">// if has scale, copy from matrix.</font>
00255                 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>)
00256                         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.Scale33;
00257         }
00258         <font class="keywordflow">else</font>
00259         {
00260                 <font class="comment">// we are rot identity, with undefined values.</font>
00261                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00262         }
00263 }
00264 
00265 
00266 <font class="comment">// ======================================================================================================</font>
<a name="l00267"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_6">00267</a> <font class="keywordtype">void</font>            CMatrix::setPos(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00268 {
00269         <a class="code" href="matrix_8cpp.html#a21">a14</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00270         <a class="code" href="matrix_8cpp.html#a22">a24</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00271         <a class="code" href="matrix_8cpp.html#a23">a34</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00272         <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00273                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00274         <font class="keywordflow">else</font>
00275                 <font class="comment">// The trans is identity</font>
00276                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00277 }
00278 <font class="comment">// ======================================================================================================</font>
<a name="l00279"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_7">00279</a> <font class="keywordtype">void</font>            CMatrix::movePos(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00280 {
00281         <a class="code" href="matrix_8cpp.html#a21">a14</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00282         <a class="code" href="matrix_8cpp.html#a22">a24</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00283         <a class="code" href="matrix_8cpp.html#a23">a34</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00284         <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00285                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00286         <font class="keywordflow">else</font>
00287                 <font class="comment">// The trans is identity</font>
00288                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00289 }
00290 <font class="comment">// ======================================================================================================</font>
<a name="l00291"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_8">00291</a> <font class="keywordtype">void</font>            CMatrix::setProj(<font class="keyword">const</font> <font class="keywordtype">float</font> proj[4])
00292 {
00293         <a class="code" href="matrix_8cpp.html#a12">a41</a>= proj[0];
00294         <a class="code" href="matrix_8cpp.html#a16">a42</a>= proj[1];
00295         <a class="code" href="matrix_8cpp.html#a20">a43</a>= proj[2];
00296         <a class="code" href="matrix_8cpp.html#a24">a44</a>= proj[3];
00297 
00298         <font class="comment">// Check Proj state.</font>
00299         <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a12">a41</a>!=0 || <a class="code" href="matrix_8cpp.html#a16">a42</a>!=0 || <a class="code" href="matrix_8cpp.html#a20">a43</a>!=0 || <a class="code" href="matrix_8cpp.html#a24">a44</a>!=1)
00300                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00301         <font class="keywordflow">else</font>
00302         {
00303                 <font class="comment">// The proj is identity, and is correcly setup!</font>
00304                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00305                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00306         }
00307 }
00308 <font class="comment">// ======================================================================================================</font>
<a name="l00309"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_9">00309</a> <font class="keywordtype">void</font>            CMatrix::resetProj()
00310 {
00311         <a class="code" href="matrix_8cpp.html#a12">a41</a>= 0;
00312         <a class="code" href="matrix_8cpp.html#a16">a42</a>= 0;
00313         <a class="code" href="matrix_8cpp.html#a20">a43</a>= 0;
00314         <a class="code" href="matrix_8cpp.html#a24">a44</a>= 1;
00315         <font class="comment">// The proj is identity, and is correcly setup!</font>
00316         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00317         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00318 }
00319 <font class="comment">// ======================================================================================================</font>
<a name="l00320"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_10">00320</a> <font class="keywordtype">void</font>            CMatrix::set(<font class="keyword">const</font> <font class="keywordtype">float</font> m44[16])
00321 {
00322         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= <a class="code" href="matrix_8cpp.html#a8">MAT_IDENTITY</a>;
00323 
00324         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00325         memcpy(<a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>, m44, 16*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00326         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
00327 
00328         <font class="comment">// Check Trans state.</font>
00329         <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00330                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00331         <font class="keywordflow">else</font>
00332                 <font class="comment">// The trans is identity</font>
00333                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00334 
00335         <font class="comment">// Check Proj state.</font>
00336         <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a12">a41</a>!=0 || <a class="code" href="matrix_8cpp.html#a16">a42</a>!=0 || <a class="code" href="matrix_8cpp.html#a20">a43</a>!=0 || <a class="code" href="matrix_8cpp.html#a24">a44</a>!=1)
00337                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00338         <font class="keywordflow">else</font>
00339         {
00340                 <font class="comment">// The proj is identity, and is correcly setup!</font>
00341                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00342                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00343         }
00344 }
00345 
00346 
00347 <font class="comment">// ======================================================================================================</font>
00348 <font class="comment">// ======================================================================================================</font>
00349 <font class="comment">// ======================================================================================================</font>
00350 
00351 
00352 <font class="comment">// ======================================================================================================</font>
<a name="l00353"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_0">00353</a> <font class="keywordtype">void</font>            CMatrix::getRot(CVector &amp;i, CVector &amp;j, CVector &amp;k)<font class="keyword"> const</font>
00354 <font class="keyword"></font>{
00355         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00356         {
00357                 i.set(<a class="code" href="matrix_8cpp.html#a9">a11</a>, <a class="code" href="matrix_8cpp.html#a10">a21</a>, <a class="code" href="matrix_8cpp.html#a11">a31</a>);
00358                 j.set(<a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a14">a22</a>, <a class="code" href="matrix_8cpp.html#a15">a32</a>);
00359                 k.set(<a class="code" href="matrix_8cpp.html#a17">a13</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>, <a class="code" href="matrix_8cpp.html#a19">a33</a>);
00360         }
00361         <font class="keywordflow">else</font>
00362         {
00363                 i.set(1, 0, 0);
00364                 j.set(0, 1, 0);
00365                 k.set(0, 0, 1);
00366         }
00367 }
00368 <font class="comment">// ======================================================================================================</font>
<a name="l00369"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_1">00369</a> <font class="keywordtype">void</font>            CMatrix::getRot(<font class="keywordtype">float</font> m33[9])<font class="keyword"> const</font>
00370 <font class="keyword"></font>{
00371         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00372         {
00373                 m33[0]= <a class="code" href="matrix_8cpp.html#a9">a11</a>;
00374                 m33[1]= <a class="code" href="matrix_8cpp.html#a10">a21</a>;
00375                 m33[2]= <a class="code" href="matrix_8cpp.html#a11">a31</a>;
00376 
00377                 m33[3]= <a class="code" href="matrix_8cpp.html#a13">a12</a>;
00378                 m33[4]= <a class="code" href="matrix_8cpp.html#a14">a22</a>;
00379                 m33[5]= <a class="code" href="matrix_8cpp.html#a15">a32</a>;
00380 
00381                 m33[6]= <a class="code" href="matrix_8cpp.html#a17">a13</a>;
00382                 m33[7]= <a class="code" href="matrix_8cpp.html#a18">a23</a>;
00383                 m33[8]= <a class="code" href="matrix_8cpp.html#a19">a33</a>;
00384         }
00385         <font class="keywordflow">else</font>
00386         {
00387                 m33[0]= 1;
00388                 m33[1]= 0;
00389                 m33[2]= 0;
00390 
00391                 m33[3]= 0;
00392                 m33[4]= 1;
00393                 m33[5]= 0;
00394 
00395                 m33[6]= 0;
00396                 m33[7]= 0;
00397                 m33[8]= 1;
00398         }
00399 }
00400 <font class="comment">// ======================================================================================================</font>
<a name="l00401"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_6">00401</a> <font class="keywordtype">void</font>            CMatrix::getProj(<font class="keywordtype">float</font> proj[4])<font class="keyword"> const</font>
00402 <font class="keyword"></font>{
00403         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
00404         {
00405                 proj[0]= <a class="code" href="matrix_8cpp.html#a12">a41</a>;
00406                 proj[1]= <a class="code" href="matrix_8cpp.html#a16">a42</a>;
00407                 proj[2]= <a class="code" href="matrix_8cpp.html#a20">a43</a>;
00408                 proj[3]= <a class="code" href="matrix_8cpp.html#a24">a44</a>;
00409         }
00410         <font class="keywordflow">else</font>
00411         {
00412                 proj[0]= 0;
00413                 proj[1]= 0;
00414                 proj[2]= 0;
00415                 proj[3]= 1;
00416         }
00417 }
00418 <font class="comment">// ======================================================================================================</font>
<a name="l00419"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_7">00419</a> CVector         CMatrix::getI()<font class="keyword"> const</font>
00420 <font class="keyword"></font>{
00421         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00422                 <font class="keywordflow">return</font> CVector(<a class="code" href="matrix_8cpp.html#a9">a11</a>, <a class="code" href="matrix_8cpp.html#a10">a21</a>, <a class="code" href="matrix_8cpp.html#a11">a31</a>);
00423         <font class="keywordflow">else</font>
00424                 <font class="keywordflow">return</font> CVector(1, 0, 0);
00425 }
00426 <font class="comment">// ======================================================================================================</font>
<a name="l00427"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_8">00427</a> CVector         CMatrix::getJ()<font class="keyword"> const</font>
00428 <font class="keyword"></font>{
00429         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00430                 <font class="keywordflow">return</font> CVector(<a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a14">a22</a>, <a class="code" href="matrix_8cpp.html#a15">a32</a>);
00431         <font class="keywordflow">else</font>
00432                 <font class="keywordflow">return</font> CVector(0, 1, 0);
00433 }
00434 <font class="comment">// ======================================================================================================</font>
<a name="l00435"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_9">00435</a> CVector         CMatrix::getK()<font class="keyword"> const</font>
00436 <font class="keyword"></font>{
00437         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00438                 <font class="keywordflow">return</font> CVector(<a class="code" href="matrix_8cpp.html#a17">a13</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>, <a class="code" href="matrix_8cpp.html#a19">a33</a>);
00439         <font class="keywordflow">else</font>
00440                 <font class="keywordflow">return</font> CVector(0, 0, 1);
00441 }
00442 <font class="comment">// ======================================================================================================</font>
<a name="l00443"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_10">00443</a> <font class="keywordtype">void</font>            CMatrix::get(<font class="keywordtype">float</font> m44[16])<font class="keyword"> const</font>
00444 <font class="keyword"></font>{
00445         <font class="comment">// \todo yoyo: TODO_OPTIMIZE_it.</font>
00446         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00447         <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
00448         memcpy(m44, <a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>, 16*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00449 }
00450 <font class="comment">// ======================================================================================================</font>
<a name="l00451"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_11">00451</a> <font class="keyword">const</font> <font class="keywordtype">float</font> *CMatrix::get()<font class="keyword"> const</font>
00452 <font class="keyword"></font>{
00453         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00454         <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
00455         <font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>;
00456 }
00457 <font class="comment">/*// ======================================================================================================</font>
00458 <font class="comment">CVector         CMatrix::toEuler(TRotOrder ro) const</font>
00459 <font class="comment">{</font>
00460 <font class="comment"></font>
00461 <font class="comment">}*/</font>
00462 
00463 
00464 <font class="comment">// ======================================================================================================</font>
00465 <font class="comment">// ======================================================================================================</font>
00466 <font class="comment">// ======================================================================================================</font>
00467 
00468 
00469 <font class="comment">// ======================================================================================================</font>
<a name="l00470"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_0">00470</a> <font class="keywordtype">void</font>            CMatrix::translate(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00471 {
00472         <font class="comment">// SetTrans.</font>
00473         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
00474         {
00475                 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00476                 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00477                 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00478         }
00479         <font class="keywordflow">else</font>
00480         {
00481                 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00482                 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00483                 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00484         }
00485 
00486         <font class="comment">// SetProj.</font>
00487         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00488                 <a class="code" href="matrix_8cpp.html#a24">a44</a>+= <a class="code" href="matrix_8cpp.html#a12">a41</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a16">a42</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a20">a43</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00489 
00490         <font class="comment">// Check Trans.</font>
00491         <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00492                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00493         <font class="keywordflow">else</font>
00494                 <font class="comment">// The trans is identity, and is correcly setup!</font>
00495                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00496 }
00497 <font class="comment">// ======================================================================================================</font>
<a name="l00498"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_1">00498</a> <font class="keywordtype">void</font>            CMatrix::rotateX(<font class="keywordtype">float</font> a)
00499 {
00500 
00501         <font class="keywordflow">if</font>(a==0)
00502                 <font class="keywordflow">return</font>;
00503         <font class="keywordtype">double</font>  ca,sa;
00504         ca=cos(a);
00505         sa=sin(a);
00506 
00507         <font class="comment">// SetRot.</font>
00508         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
00509         {
00510                 <font class="keywordtype">float</font>   b12=<a class="code" href="matrix_8cpp.html#a13">a12</a>, b22=<a class="code" href="matrix_8cpp.html#a14">a22</a>, b32=<a class="code" href="matrix_8cpp.html#a15">a32</a>;
00511                 <font class="keywordtype">float</font>   b13=<a class="code" href="matrix_8cpp.html#a17">a13</a>, b23=<a class="code" href="matrix_8cpp.html#a18">a23</a>, b33=<a class="code" href="matrix_8cpp.html#a19">a33</a>;
00512                 <a class="code" href="matrix_8cpp.html#a13">a12</a>= (float)(b12*ca + b13*sa);
00513                 <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)(b22*ca + b23*sa);
00514                 <a class="code" href="matrix_8cpp.html#a15">a32</a>= (float)(b32*ca + b33*sa);
00515                 <a class="code" href="matrix_8cpp.html#a17">a13</a>= (float)(b13*ca - b12*sa);
00516                 <a class="code" href="matrix_8cpp.html#a18">a23</a>= (float)(b23*ca - b22*sa);
00517                 <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)(b33*ca - b32*sa);
00518         }
00519         <font class="keywordflow">else</font>
00520         {
00521                 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00522                 <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0.0f; <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a15">a32</a>= (float)sa;
00523                 <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0.0f; <a class="code" href="matrix_8cpp.html#a18">a23</a>= (float)-sa; <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)ca;
00524         }
00525 
00526         <font class="comment">// SetProj.</font>
00527         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00528         {
00529                 <font class="keywordtype">float</font>   b42=<a class="code" href="matrix_8cpp.html#a16">a42</a>, b43=<a class="code" href="matrix_8cpp.html#a20">a43</a>;
00530                 <a class="code" href="matrix_8cpp.html#a16">a42</a>= (float)(b42*ca + b43*sa);
00531                 <a class="code" href="matrix_8cpp.html#a20">a43</a>= (float)(b43*ca - b42*sa);
00532         }
00533 
00534         <font class="comment">// set Rot.</font>
00535         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
00536 }
00537 <font class="comment">// ======================================================================================================</font>
<a name="l00538"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_2">00538</a> <font class="keywordtype">void</font>            CMatrix::rotateY(<font class="keywordtype">float</font> a)
00539 {
00540 
00541         <font class="keywordflow">if</font>(a==0)
00542                 <font class="keywordflow">return</font>;
00543         <font class="keywordtype">double</font>  ca,sa;
00544         ca=cos(a);
00545         sa=sin(a);
00546 
00547         <font class="comment">// SetRot.</font>
00548         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
00549         {
00550                 <font class="keywordtype">float</font>   b11=<a class="code" href="matrix_8cpp.html#a9">a11</a>, b21=<a class="code" href="matrix_8cpp.html#a10">a21</a>, b31=<a class="code" href="matrix_8cpp.html#a11">a31</a>;
00551                 <font class="keywordtype">float</font>   b13=<a class="code" href="matrix_8cpp.html#a17">a13</a>, b23=<a class="code" href="matrix_8cpp.html#a18">a23</a>, b33=<a class="code" href="matrix_8cpp.html#a19">a33</a>;
00552                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)(b11*ca - b13*sa);
00553                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= (float)(b21*ca - b23*sa);
00554                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= (float)(b31*ca - b33*sa);
00555                 <a class="code" href="matrix_8cpp.html#a17">a13</a>= (float)(b13*ca + b11*sa);
00556                 <a class="code" href="matrix_8cpp.html#a18">a23</a>= (float)(b23*ca + b21*sa);
00557                 <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)(b33*ca + b31*sa);
00558         }
00559         <font class="keywordflow">else</font>
00560         {
00561                 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00562                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a10">a21</a>=0.0f; <a class="code" href="matrix_8cpp.html#a11">a31</a>= (float)-sa;
00563                 <a class="code" href="matrix_8cpp.html#a17">a13</a>= (float)sa; <a class="code" href="matrix_8cpp.html#a18">a23</a>=0.0f; <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)ca;
00564         }
00565 
00566         <font class="comment">// SetProj.</font>
00567         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00568         {
00569                 <font class="keywordtype">float</font>   b41=<a class="code" href="matrix_8cpp.html#a12">a41</a>, b43=<a class="code" href="matrix_8cpp.html#a20">a43</a>;
00570                 <a class="code" href="matrix_8cpp.html#a12">a41</a>= (float)(b41*ca - b43*sa);
00571                 <a class="code" href="matrix_8cpp.html#a20">a43</a>= (float)(b43*ca + b41*sa);
00572         }
00573 
00574         <font class="comment">// set Rot.</font>
00575         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
00576 }
00577 <font class="comment">// ======================================================================================================</font>
<a name="l00578"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_3">00578</a> <font class="keywordtype">void</font>            CMatrix::rotateZ(<font class="keywordtype">float</font> a)
00579 {
00580 
00581         <font class="keywordflow">if</font>(a==0)
00582                 <font class="keywordflow">return</font>;
00583         <font class="keywordtype">double</font>  ca,sa;
00584         ca=cos(a);
00585         sa=sin(a);
00586 
00587         <font class="comment">// SetRot.</font>
00588         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; (<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
00589         {
00590                 <font class="keywordtype">float</font>   b11=<a class="code" href="matrix_8cpp.html#a9">a11</a>, b21=<a class="code" href="matrix_8cpp.html#a10">a21</a>, b31=<a class="code" href="matrix_8cpp.html#a11">a31</a>;
00591                 <font class="keywordtype">float</font>   b12=<a class="code" href="matrix_8cpp.html#a13">a12</a>, b22=<a class="code" href="matrix_8cpp.html#a14">a22</a>, b32=<a class="code" href="matrix_8cpp.html#a15">a32</a>;
00592                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)(b11*ca + b12*sa);
00593                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= (float)(b21*ca + b22*sa);
00594                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= (float)(b31*ca + b32*sa);
00595                 <a class="code" href="matrix_8cpp.html#a13">a12</a>= (float)(b12*ca - b11*sa);
00596                 <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)(b22*ca - b21*sa);
00597                 <a class="code" href="matrix_8cpp.html#a15">a32</a>= (float)(b32*ca - b31*sa);
00598         }
00599         <font class="keywordflow">else</font>
00600         {
00601                 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00602                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a10">a21</a>= (float)sa; <a class="code" href="matrix_8cpp.html#a11">a31</a>=0.0f;
00603                 <a class="code" href="matrix_8cpp.html#a13">a12</a>= (float)-sa; <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a15">a32</a>=0.0f;
00604         }
00605 
00606         <font class="comment">// SetProj.</font>
00607         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00608         {
00609                 <font class="keywordtype">float</font>   b41=<a class="code" href="matrix_8cpp.html#a12">a41</a>, b42=<a class="code" href="matrix_8cpp.html#a16">a42</a>;
00610                 <a class="code" href="matrix_8cpp.html#a12">a41</a>= (float)(b41*ca + b42*sa);
00611                 <a class="code" href="matrix_8cpp.html#a16">a42</a>= (float)(b42*ca - b41*sa);
00612         }
00613 
00614         <font class="comment">// set Rot.</font>
00615         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
00616 }
00617 <font class="comment">// ======================================================================================================</font>
<a name="l00618"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_4">00618</a> <font class="keywordtype">void</font>            CMatrix::rotate(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>, TRotOrder ro)
00619 {
00620         <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>         rot;
00621         rot.identity();
00622         <font class="keywordflow">switch</font>(ro)
00623         {
00624                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s0">XYZ</a>: rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); <font class="keywordflow">break</font>;
00625                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s1">XZY</a>: rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); <font class="keywordflow">break</font>;
00626                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s2">YXZ</a>: rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); <font class="keywordflow">break</font>;
00627                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s3">YZX</a>: rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); <font class="keywordflow">break</font>;
00628                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s4">ZXY</a>: rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); <font class="keywordflow">break</font>;
00629                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s5">ZYX</a>: rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); <font class="keywordflow">break</font>;
00630         }
00631 
00632         (*this)*= rot;
00633 }
00634 
00635 <font class="comment">// ======================================================================================================</font>
<a name="l00636"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_5">00636</a> <font class="keywordtype">void</font>            CMatrix::rotate(<font class="keyword">const</font> CQuat &amp;quat)
00637 {
00638         <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>         rot;
00639         rot.setRot(quat);
00640         (*this)*= rot;
00641 }
00642 
00643 <font class="comment">// ======================================================================================================</font>
<a name="l00644"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_6">00644</a> <font class="keywordtype">void</font>            CMatrix::scale(<font class="keywordtype">float</font> f)
00645 {
00646 
00647         <font class="keywordflow">if</font>(f==1.0f) <font class="keywordflow">return</font>;
00648         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>)
00649         {
00650                 <a class="code" href="classNLMISC_1_1CMatrix.html#z292_6">scale</a>(CVector(f,f,f));
00651         }
00652         <font class="keywordflow">else</font>
00653         {
00654                 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00655                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>;
00656                 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>*=f;
00657                 <a class="code" href="matrix_8cpp.html#a9">a11</a>*= f; <a class="code" href="matrix_8cpp.html#a13">a12</a>*=f; <a class="code" href="matrix_8cpp.html#a17">a13</a>*=f;
00658                 <a class="code" href="matrix_8cpp.html#a10">a21</a>*= f; <a class="code" href="matrix_8cpp.html#a14">a22</a>*=f; <a class="code" href="matrix_8cpp.html#a18">a23</a>*=f;
00659                 <a class="code" href="matrix_8cpp.html#a11">a31</a>*= f; <a class="code" href="matrix_8cpp.html#a15">a32</a>*=f; <a class="code" href="matrix_8cpp.html#a19">a33</a>*=f;
00660 
00661                 <font class="comment">// SetProj.</font>
00662                 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00663                 {
00664                         <a class="code" href="matrix_8cpp.html#a12">a41</a>*=f; <a class="code" href="matrix_8cpp.html#a16">a42</a>*=f; <a class="code" href="matrix_8cpp.html#a20">a43</a>*=f;
00665                 }
00666         }
00667 }
00668 <font class="comment">// ======================================================================================================</font>
<a name="l00669"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_7">00669</a> <font class="keywordtype">void</font>            CMatrix::scale(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00670 {
00671 
00672         <font class="keywordflow">if</font>( <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>==CVector(1,1,1) ) <font class="keywordflow">return</font>;
00673         <font class="keywordflow">if</font>( !(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) &amp;&amp; <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x==<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y &amp;&amp; <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x==<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z)
00674         {
00675                 <a class="code" href="classNLMISC_1_1CMatrix.html#z292_6">scale</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x);
00676         }
00677         <font class="keywordflow">else</font>
00678         {
00679                 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00680                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|=<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00681                 <a class="code" href="matrix_8cpp.html#a9">a11</a>*= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x; <a class="code" href="matrix_8cpp.html#a13">a12</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y; <a class="code" href="matrix_8cpp.html#a17">a13</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00682                 <a class="code" href="matrix_8cpp.html#a10">a21</a>*= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x; <a class="code" href="matrix_8cpp.html#a14">a22</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y; <a class="code" href="matrix_8cpp.html#a18">a23</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00683                 <a class="code" href="matrix_8cpp.html#a11">a31</a>*= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x; <a class="code" href="matrix_8cpp.html#a15">a32</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y; <a class="code" href="matrix_8cpp.html#a19">a33</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00684 
00685                 <font class="comment">// SetProj.</font>
00686                 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00687                 {
00688                         <a class="code" href="matrix_8cpp.html#a12">a41</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00689                         <a class="code" href="matrix_8cpp.html#a16">a42</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00690                         <a class="code" href="matrix_8cpp.html#a20">a43</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00691                 }
00692         }
00693 }
00694 
00695 
00696 <font class="comment">// ======================================================================================================</font>
00697 <font class="comment">// ======================================================================================================</font>
00698 <font class="comment">// ======================================================================================================</font>
00699 
00700 
00701 <font class="comment">// ***************************************************************************</font>
<a name="l00702"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_3">00702</a> <font class="keywordtype">void</font>            CMatrix::setMulMatrixNoProj(<font class="keyword">const</font> CMatrix &amp;m1, <font class="keyword">const</font> CMatrix &amp;m2)
00703 {
00704         <font class="comment">// Do *this= m1*m2</font>
00705         <a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">identity</a>();
00706         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= (m1.StateBit | m2.StateBit) &amp; (~MAT_PROJ);
00707         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a7">MAT_VALIDALL</a>;
00708 
00709 
00710         <font class="comment">// Build Rot part.</font>
00711         <font class="comment">//===============</font>
00712         <font class="keywordtype">bool</font>    M1Identity= ! m1.hasRot();
00713         <font class="keywordtype">bool</font>    M2Identity= ! m2.hasRot();
00714         <font class="keywordtype">bool</font>    M1ScaleOnly= ! (m1.StateBit &amp; <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00715         <font class="keywordtype">bool</font>    M2ScaleOnly= ! (m2.StateBit &amp; <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00716         <font class="keywordtype">bool</font>    MGeneralCase= !M1Identity &amp;&amp; !M2Identity &amp;&amp; !M1ScaleOnly &amp;&amp; !M2ScaleOnly;
00717 
00718 
00719         <font class="comment">// Manage the most common general case first (optim the if ): blending of two rotations.</font>
00720         <font class="keywordflow">if</font>( MGeneralCase )
00721         {
00722                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11 + m1.a12*m2.a21 + m1.a13*m2.a31;
00723                 <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12 + m1.a12*m2.a22 + m1.a13*m2.a32;
00724                 <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13 + m1.a12*m2.a23 + m1.a13*m2.a33;
00725 
00726                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11 + m1.a22*m2.a21 + m1.a23*m2.a31;
00727                 <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a21*m2.a12 + m1.a22*m2.a22 + m1.a23*m2.a32;
00728                 <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a21*m2.a13 + m1.a22*m2.a23 + m1.a23*m2.a33;
00729 
00730                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11 + m1.a32*m2.a21 + m1.a33*m2.a31;
00731                 <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a31*m2.a12 + m1.a32*m2.a22 + m1.a33*m2.a32;
00732                 <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a31*m2.a13 + m1.a32*m2.a23 + m1.a33*m2.a33;
00733         }
00734         <font class="comment">// If one of the 3x3 matrix is an identity, just do a copy</font>
00735         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1Identity || M2Identity )
00736         {
00737                 <font class="comment">// If both identity, then me too.</font>
00738                 <font class="keywordflow">if</font>( M1Identity &amp;&amp; M2Identity )
00739                 {
00740                         <font class="comment">// just expand me (important because validated below)</font>
00741                         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00742                 }
00743                 <font class="keywordflow">else</font>
00744                 {
00745                         <font class="comment">// Copy the non identity matrix.</font>
00746                         <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>   *c= M2Identity? &amp;m1 : &amp;m2;
00747                         <a class="code" href="matrix_8cpp.html#a9">a11</a>= c-&gt;a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= c-&gt;a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= c-&gt;a13;
00748                         <a class="code" href="matrix_8cpp.html#a10">a21</a>= c-&gt;a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= c-&gt;a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= c-&gt;a23;
00749                         <a class="code" href="matrix_8cpp.html#a11">a31</a>= c-&gt;a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= c-&gt;a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= c-&gt;a33;
00750                 }
00751         }
00752         <font class="comment">// If two 3x3 matrix are just scaleOnly matrix, do a scaleFact.</font>
00753         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly &amp;&amp; M2ScaleOnly )
00754         {
00755                 <font class="comment">// same process for scaleUni or scaleAny.</font>
00756                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0; <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0; 
00757                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= 0; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= 0; 
00758                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= 0; <a class="code" href="matrix_8cpp.html#a15">a32</a>= 0; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00759         }
00760         <font class="comment">// If one of the matrix is a scaleOnly matrix, do a scale*Rot.</font>
00761         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly &amp;&amp; !M2ScaleOnly )
00762         {
00763                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13;
00764                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a22*m2.a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a22*m2.a23;
00765                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a33*m2.a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a33*m2.a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00766         }
00767         <font class="keywordflow">else</font>
00768         {
00769                 <font class="comment">// This must be this case</font>
00770                 <a class="code" href="debug_8h.html#a6">nlassert</a>(!M1ScaleOnly &amp;&amp; M2ScaleOnly);
00771                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a12*m2.a22; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a13*m2.a33;
00772                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a23*m2.a33;
00773                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a32*m2.a22; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00774         }
00775 
00776         <font class="comment">// Modify Scale.</font>
00777         <font class="keywordflow">if</font>( (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>) &amp;&amp; !(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
00778         {
00779                 <font class="comment">// Must have correct Scale33</font>
00780                 m1.testExpandRot();
00781                 m2.testExpandRot();
00782                 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m1.Scale33*m2.Scale33;
00783         }
00784         <font class="keywordflow">else</font>
00785                 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>=1;
00786 
00787         <font class="comment">// In every case, I am valid now!</font>
00788         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|=<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00789 
00790 
00791         <font class="comment">// Build Trans part.</font>
00792         <font class="comment">//=================</font>
00793         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a> )
00794         {
00795                 <font class="comment">// Compose M2 part. NB: always suppose MAT_TRANS, for optim consideration.</font>
00796                 <font class="comment">// NB: the translation part is always valid, even if identity()</font>
00797                 <font class="keywordflow">if</font>( M1Identity )
00798                 {
00799                         <a class="code" href="matrix_8cpp.html#a21">a14</a>= m2.a14 + m1.a14;
00800                         <a class="code" href="matrix_8cpp.html#a22">a24</a>= m2.a24 + m1.a24;
00801                         <a class="code" href="matrix_8cpp.html#a23">a34</a>= m2.a34 + m1.a34;
00802                 }
00803                 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (M1ScaleOnly )
00804                 {
00805                         <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14 + m1.a14;
00806                         <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a22*m2.a24 + m1.a24;
00807                         <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a33*m2.a34 + m1.a34;
00808                 }
00809                 <font class="keywordflow">else</font>
00810                 {
00811                         <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14 + m1.a12*m2.a24 + m1.a13*m2.a34 + m1.a14;
00812                         <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a21*m2.a14 + m1.a22*m2.a24 + m1.a23*m2.a34 + m1.a24;
00813                         <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a31*m2.a14 + m1.a32*m2.a24 + m1.a33*m2.a34 + m1.a34;
00814                 }
00815         }
00816 
00817 }
00818 
00819 
00820 <font class="comment">// ***************************************************************************</font>
<a name="l00821"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_0">00821</a> <font class="keywordtype">void</font>            CMatrix::setMulMatrix(<font class="keyword">const</font> CMatrix &amp;m1, <font class="keyword">const</font> CMatrix &amp;m2)
00822 {
00823         <font class="comment">// Do *this= m1*m2</font>
00824         <a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">identity</a>();
00825         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= m1.StateBit | m2.StateBit;
00826         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a7">MAT_VALIDALL</a>;
00827 
00828         <font class="comment">// Build Rot part.</font>
00829         <font class="comment">//===============</font>
00830         <font class="keywordtype">bool</font>    M1Identity= ! m1.hasRot();
00831         <font class="keywordtype">bool</font>    M2Identity= ! m2.hasRot();
00832         <font class="keywordtype">bool</font>    M1ScaleOnly= ! (m1.StateBit &amp; <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00833         <font class="keywordtype">bool</font>    M2ScaleOnly= ! (m2.StateBit &amp; <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00834         <font class="keywordtype">bool</font>    MGeneralCase= !M1Identity &amp;&amp; !M2Identity &amp;&amp; !M1ScaleOnly &amp;&amp; !M2ScaleOnly;
00835 
00836 
00837         <font class="comment">// Manage the most common general case first (optim the if ): blending of two rotations.</font>
00838         <font class="keywordflow">if</font>( MGeneralCase )
00839         {
00840                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11 + m1.a12*m2.a21 + m1.a13*m2.a31;
00841                 <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12 + m1.a12*m2.a22 + m1.a13*m2.a32;
00842                 <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13 + m1.a12*m2.a23 + m1.a13*m2.a33;
00843 
00844                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11 + m1.a22*m2.a21 + m1.a23*m2.a31;
00845                 <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a21*m2.a12 + m1.a22*m2.a22 + m1.a23*m2.a32;
00846                 <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a21*m2.a13 + m1.a22*m2.a23 + m1.a23*m2.a33;
00847 
00848                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11 + m1.a32*m2.a21 + m1.a33*m2.a31;
00849                 <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a31*m2.a12 + m1.a32*m2.a22 + m1.a33*m2.a32;
00850                 <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a31*m2.a13 + m1.a32*m2.a23 + m1.a33*m2.a33;
00851         }
00852         <font class="comment">// If one of the 3x3 matrix is an identity, just do a copy</font>
00853         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1Identity || M2Identity )
00854         {
00855                 <font class="comment">// If both identity, then me too.</font>
00856                 <font class="keywordflow">if</font>( M1Identity &amp;&amp; M2Identity )
00857                 {
00858                         <font class="comment">// just expand me (important because validated below)</font>
00859                         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00860                 }
00861                 <font class="keywordflow">else</font>
00862                 {
00863                         <font class="comment">// Copy the non identity matrix.</font>
00864                         <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>   *c= M2Identity? &amp;m1 : &amp;m2;
00865                         <a class="code" href="matrix_8cpp.html#a9">a11</a>= c-&gt;a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= c-&gt;a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= c-&gt;a13;
00866                         <a class="code" href="matrix_8cpp.html#a10">a21</a>= c-&gt;a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= c-&gt;a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= c-&gt;a23;
00867                         <a class="code" href="matrix_8cpp.html#a11">a31</a>= c-&gt;a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= c-&gt;a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= c-&gt;a33;
00868                 }
00869         }
00870         <font class="comment">// If two 3x3 matrix are just scaleOnly matrix, do a scaleFact.</font>
00871         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly &amp;&amp; M2ScaleOnly )
00872         {
00873                 <font class="comment">// same process for scaleUni or scaleAny.</font>
00874                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0; <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0; 
00875                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= 0; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= 0; 
00876                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= 0; <a class="code" href="matrix_8cpp.html#a15">a32</a>= 0; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00877         }
00878         <font class="comment">// If one of the matrix is a scaleOnly matrix, do a scale*Rot.</font>
00879         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly &amp;&amp; !M2ScaleOnly )
00880         {
00881                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13;
00882                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a22*m2.a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a22*m2.a23;
00883                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a33*m2.a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a33*m2.a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00884         }
00885         <font class="keywordflow">else</font>
00886         {
00887                 <font class="comment">// This must be this case</font>
00888                 <a class="code" href="debug_8h.html#a6">nlassert</a>(!M1ScaleOnly &amp;&amp; M2ScaleOnly);
00889                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a12*m2.a22; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a13*m2.a33;
00890                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a23*m2.a33;
00891                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a32*m2.a22; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00892         }
00893 
00894         <font class="comment">// If M1 has translate and M2 has projective, rotation is modified.</font>
00895         <font class="keywordflow">if</font>( m1.hasTrans() &amp;&amp; m2.hasProj())
00896         {
00897                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00898 
00899                 <a class="code" href="matrix_8cpp.html#a9">a11</a>+= m1.a14*m2.a41;
00900                 <a class="code" href="matrix_8cpp.html#a13">a12</a>+= m1.a14*m2.a42;
00901                 <a class="code" href="matrix_8cpp.html#a17">a13</a>+= m1.a14*m2.a43;
00902 
00903                 <a class="code" href="matrix_8cpp.html#a10">a21</a>+= m1.a24*m2.a41;
00904                 <a class="code" href="matrix_8cpp.html#a14">a22</a>+= m1.a24*m2.a42;
00905                 <a class="code" href="matrix_8cpp.html#a18">a23</a>+= m1.a24*m2.a43;
00906 
00907                 <a class="code" href="matrix_8cpp.html#a11">a31</a>+= m1.a34*m2.a41;
00908                 <a class="code" href="matrix_8cpp.html#a15">a32</a>+= m1.a34*m2.a42;
00909                 <a class="code" href="matrix_8cpp.html#a19">a33</a>+= m1.a34*m2.a43;
00910         }
00911 
00912         <font class="comment">// Modify Scale.</font>
00913         <font class="keywordflow">if</font>( (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>) &amp;&amp; !(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
00914         {
00915                 <font class="comment">// Must have correct Scale33</font>
00916                 m1.testExpandRot();
00917                 m2.testExpandRot();
00918                 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m1.Scale33*m2.Scale33;
00919         }
00920         <font class="keywordflow">else</font>
00921                 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>=1;
00922 
00923         <font class="comment">// In every case, I am valid now!</font>
00924         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|=<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00925 
00926 
00927         <font class="comment">// Build Trans part.</font>
00928         <font class="comment">//=================</font>
00929         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a> )
00930         {
00931                 <font class="comment">// Compose M2 part.</font>
00932                 <font class="keywordflow">if</font>( M1Identity )
00933                 {
00934                         <a class="code" href="matrix_8cpp.html#a21">a14</a>= m2.a14;
00935                         <a class="code" href="matrix_8cpp.html#a22">a24</a>= m2.a24;
00936                         <a class="code" href="matrix_8cpp.html#a23">a34</a>= m2.a34;
00937                 }
00938                 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (M1ScaleOnly )
00939                 {
00940                         <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14;
00941                         <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a22*m2.a24;
00942                         <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a33*m2.a34;
00943                 }
00944                 <font class="keywordflow">else</font>
00945                 {
00946                         <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14 + m1.a12*m2.a24 + m1.a13*m2.a34;
00947                         <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a21*m2.a14 + m1.a22*m2.a24 + m1.a23*m2.a34;
00948                         <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a31*m2.a14 + m1.a32*m2.a24 + m1.a33*m2.a34;
00949                 }
00950                 <font class="comment">// Compose M1 part.</font>
00951                 <font class="keywordflow">if</font>(m1.StateBit &amp; <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>)
00952                 {
00953                         <font class="keywordflow">if</font>(m2.StateBit &amp; <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)
00954                         {
00955                                 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= m1.a14*m2.a44;
00956                                 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= m1.a24*m2.a44;
00957                                 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= m1.a34*m2.a44;
00958                         }
00959                         <font class="keywordflow">else</font>
00960                         {
00961                                 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= m1.a14;
00962                                 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= m1.a24;
00963                                 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= m1.a34;
00964                         }
00965                 }
00966         }
00967 
00968 
00969         <font class="comment">// Build Proj part.</font>
00970         <font class="comment">//=================</font>
00971         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a> )
00972         {
00973                 <font class="comment">// optimise nothing... (projection matrix are rare).</font>
00974                 m1.testExpandRot();
00975                 m1.testExpandProj();
00976                 m2.testExpandRot();
00977                 m2.testExpandProj();
00978                 <a class="code" href="matrix_8cpp.html#a12">a41</a>= m1.a41*m2.a11 + m1.a42*m2.a21 + m1.a43*m2.a31 + m1.a44*m2.a41;
00979                 <a class="code" href="matrix_8cpp.html#a16">a42</a>= m1.a41*m2.a12 + m1.a42*m2.a22 + m1.a43*m2.a32 + m1.a44*m2.a42;
00980                 <a class="code" href="matrix_8cpp.html#a20">a43</a>= m1.a41*m2.a13 + m1.a42*m2.a23 + m1.a43*m2.a33 + m1.a44*m2.a43;
00981                 <a class="code" href="matrix_8cpp.html#a24">a44</a>= m1.a41*m2.a14 + m1.a42*m2.a24 + m1.a43*m2.a34 + m1.a44*m2.a44;
00982                 <font class="comment">// The proj is valid now</font>
00983                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00984         }
00985         <font class="keywordflow">else</font>
00986         {
00987                 <font class="comment">// Don't copy proj part, and leave MAT_VALIDPROJ not set</font>
00988         }
00989 }
00990 <font class="comment">// ======================================================================================================</font>
<a name="l00991"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_6">00991</a> <font class="keywordtype">void</font>            CMatrix::invert()
00992 {
00993 
00994         *<font class="keyword">this</font>= <a class="code" href="classNLMISC_1_1CMatrix.html#z293_7">inverted</a>();
00995 }
00996 
00997 
00998 <font class="comment">// ======================================================================================================</font>
<a name="l00999"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_4">00999</a> <font class="keywordtype">void</font>            CMatrix::transpose3x3()
01000 {
01001         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
01002         {
01003                 <font class="comment">// swap values.</font>
01004                 swap(<a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a10">a21</a>);
01005                 swap(<a class="code" href="matrix_8cpp.html#a17">a13</a>, <a class="code" href="matrix_8cpp.html#a11">a31</a>);
01006                 swap(<a class="code" href="matrix_8cpp.html#a15">a32</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>);
01007                 <font class="comment">// Scale mode (none, uni, or any) is conserved. Scale33 too...</font>
01008         }
01009 }
01010 
01011 <font class="comment">// ======================================================================================================</font>
<a name="l01012"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_5">01012</a> <font class="keywordtype">void</font>            CMatrix::transpose()
01013 {
01014         <a class="code" href="classNLMISC_1_1CMatrix.html#z293_4">transpose3x3</a>();
01015         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() || <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
01016         {
01017                 <font class="comment">// if necessary, Get valid 0 on proj part.</font>
01018                 <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
01019                 <font class="comment">// swap values</font>
01020                 swap(<a class="code" href="matrix_8cpp.html#a12">a41</a>, <a class="code" href="matrix_8cpp.html#a21">a14</a>);
01021                 swap(<a class="code" href="matrix_8cpp.html#a16">a42</a>, <a class="code" href="matrix_8cpp.html#a22">a24</a>);
01022                 swap(<a class="code" href="matrix_8cpp.html#a20">a43</a>, <a class="code" href="matrix_8cpp.html#a23">a34</a>);
01023                 <font class="comment">// swap StateBit flags, if not both were sets...</font>
01024                 <font class="keywordflow">if</font>(!<a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() || !<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
01025                 {
01026                         <font class="comment">// swap StateBit flags (swap trans with proj).</font>
01027                         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>())
01028                         {
01029                                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01030                                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01031                         }
01032                         <font class="keywordflow">else</font>
01033                         {
01034                                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01035                                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01036                         }
01037                 }
01038                 <font class="comment">// reset validity. NB, maybe not usefull, but simpler, and bugfree.</font>
01039                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~(MAT_VALIDPROJ);
01040         }
01041         <font class="comment">// NB: if no Trans or no Proj, do nothing, so don't need to modify VALIDTRANS and VALIDPROJ too.</font>
01042 }
01043 
01044 
01045 <font class="comment">// ======================================================================================================</font>
<a name="l01046"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c0">01046</a> <font class="keywordtype">void</font>    CMatrix::fastInvert33(CMatrix &amp;ret)<font class="keyword"> const</font>
01047 <font class="keyword"></font>{
01048         <font class="comment">// Fast invert of 3x3 rot matrix.</font>
01049         <font class="comment">// Work if no scale and if MAT_SCALEUNI. doesn't work if MAT_SCALEANY.</font>
01050 
01051         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>)
01052         {
01053                 <font class="keywordtype">double</font>  <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>,S;    <font class="comment">// important for precision.</font>
01054                 <font class="comment">// Must divide the matrix by 1/Scale 2 times, to set unit, and to have a Scale=1/Scale.</font>
01055                 S=1.0/<a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>;
01056                 ret.Scale33= (float)S;
01057                 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>=S*S;
01058                 <font class="comment">// The matrix is a base, so just transpose it.</font>
01059                 ret.a11= (float)(<a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a12= (float)(<a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a13= (float)(<a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01060                 ret.a21= (float)(<a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a22= (float)(<a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a23= (float)(<a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01061                 ret.a31= (float)(<a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a32= (float)(<a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a33= (float)(<a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01062         }
01063         <font class="keywordflow">else</font>
01064         {
01065                 ret.Scale33=1;
01066                 <font class="comment">// The matrix is a base, so just transpose it.</font>
01067                 ret.a11= <a class="code" href="matrix_8cpp.html#a9">a11</a>; ret.a12= <a class="code" href="matrix_8cpp.html#a10">a21</a>; ret.a13=<a class="code" href="matrix_8cpp.html#a11">a31</a>;
01068                 ret.a21= <a class="code" href="matrix_8cpp.html#a13">a12</a>; ret.a22= <a class="code" href="matrix_8cpp.html#a14">a22</a>; ret.a23=<a class="code" href="matrix_8cpp.html#a15">a32</a>;
01069                 ret.a31= <a class="code" href="matrix_8cpp.html#a17">a13</a>; ret.a32= <a class="code" href="matrix_8cpp.html#a18">a23</a>; ret.a33=<a class="code" href="matrix_8cpp.html#a19">a33</a>;
01070         }
01071 
01072         <font class="comment">// 15 cycles if no scale.</font>
01073         <font class="comment">// 35 cycles if scale.</font>
01074 }
01075 <font class="comment">// ======================================================================================================</font>
<a name="l01076"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c1">01076</a> <font class="keywordtype">bool</font>    CMatrix::slowInvert33(CMatrix &amp;ret)<font class="keyword"> const</font>
01077 <font class="keyword"></font>{
01078         CVector invi,invj,invk;
01079         CVector i,j,k;
01080         <font class="keywordtype">double</font>  <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01081 
01082         i= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_7">getI</a>();
01083         j= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_8">getJ</a>();
01084         k= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_9">getK</a>();
01085         <font class="comment">// Compute cofactors (minors *(-1)^(i+j)).</font>
01086         invi.x= j.y*k.z - k.y*j.z;
01087         invi.y= j.z*k.x - k.z*j.x;
01088         invi.z= j.x*k.y - k.x*j.y;
01089         invj.x= k.y*i.z - i.y*k.z;
01090         invj.y= k.z*i.x - i.z*k.x;
01091         invj.z= k.x*i.y - i.x*k.y;
01092         invk.x= i.y*j.z - j.y*i.z;
01093         invk.y= i.z*j.x - j.z*i.x;
01094         invk.z= i.x*j.y - j.x*i.y;
01095         <font class="comment">// compute determinant.</font>
01096         <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>= invi.x*i.x + invj.x*j.x + invk.x*k.x;
01097         <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>==0)
01098                 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01099         <font class="comment">// Transpose the Comatrice, and divide by determinant.</font>
01100         <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>=1.0/<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01101         ret.a11= (float)(invi.x*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a12= (float)(invi.y*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a13= (float)(invi.z*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01102         ret.a21= (float)(invj.x*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a22= (float)(invj.y*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a23= (float)(invj.z*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01103         ret.a31= (float)(invk.x*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a32= (float)(invk.y*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a33= (float)(invk.z*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01104 
01105         <font class="keywordflow">return</font> <font class="keyword">true</font>;
01106         <font class="comment">// Roundly 82 cycles. (1Div=10 cycles).</font>
01107 }
01108 <font class="comment">// ======================================================================================================</font>
<a name="l01109"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c2">01109</a> <font class="keywordtype">bool</font>    CMatrix::slowInvert44(CMatrix &amp;ret)<font class="keyword"> const</font>
01110 <font class="keyword"></font>{
01111         sint    i,j;
01112         <font class="keywordtype">double</font>  <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01113 
01114         <font class="comment">// Compute Cofactors</font>
01115         <font class="comment">//==================</font>
01116         <font class="keywordflow">for</font>(i=0;i&lt;=3;i++)
01117         {
01118                 <font class="keywordflow">for</font>(j=0;j&lt;=3;j++)
01119                 {
01120                         sint    l1,l2,l3;
01121                         sint    c1,c2,c3;
01122                         <a class="code" href="classNLMISC_1_1CMatrix.html#c5">getCofactIndex</a>(i,l1,l2,l3);
01123                         <a class="code" href="classNLMISC_1_1CMatrix.html#c5">getCofactIndex</a>(j,c1,c2,c3);
01124 
01125                         ret.mat(i,j)= 0;
01126                         ret.mat(i,j)+= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c3);
01127                         ret.mat(i,j)+= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c1);
01128                         ret.mat(i,j)+= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c2);
01129 
01130                         ret.mat(i,j)-= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c2);
01131                         ret.mat(i,j)-= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c3);
01132                         ret.mat(i,j)-= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c1);
01133 
01134                         <font class="keywordflow">if</font>( (i+j)&amp;1 )
01135                                 ret.mat(i,j)=-ret.mat(i,j);
01136                 }
01137         }
01138 
01139         <font class="comment">// Compute determinant.</font>
01140         <font class="comment">//=====================</font>
01141         <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>= ret.mat(0,0) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,0) + ret.mat(0,1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,1) + ret.mat(0,2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,2) + ret.mat(0,3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,3);
01142         <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>==0)
01143                 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01144 
01145         <font class="comment">// Divide by determinant.</font>
01146         <font class="comment">//=======================</font>
01147         <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>=1.0/<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01148         <font class="keywordflow">for</font>(i=0;i&lt;=3;i++)
01149         {
01150                 <font class="keywordflow">for</font>(j=0;j&lt;=3;j++)
01151                         ret.mat(i,j)= (float)(ret.mat(i,j)*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01152         }
01153 
01154         <font class="comment">// Transpose the comatrice.</font>
01155         <font class="comment">//=========================</font>
01156         <font class="keywordflow">for</font>(i=0;i&lt;=3;i++)
01157         {
01158                 <font class="keywordflow">for</font>(j=i+1;j&lt;=3;j++)
01159                 {
01160                         swap(ret.mat(i,j), ret.mat(j,i));
01161                 }
01162         }
01163 
01164         <font class="keywordflow">return</font> <font class="keyword">true</font>;
01165 }
01166 <font class="comment">// ======================================================================================================</font>
<a name="l01167"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_7">01167</a> CMatrix         CMatrix::inverted()<font class="keyword"> const</font>
01168 <font class="keyword"></font>{
01169 
01170         <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> ret;
01171 
01172         <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01173         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
01174         <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
01175 
01176         <font class="comment">// Do a conventionnal 44 inversion.</font>
01177         <font class="comment">//=================================</font>
01178         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)
01179         {
01180                 <font class="keywordflow">if</font>(!<a class="code" href="classNLMISC_1_1CMatrix.html#c2">slowInvert44</a>(ret))
01181                 {
01182                         ret.identity();
01183                         <font class="keywordflow">return</font> ret;
01184                 }
01185 
01186                 <font class="comment">// Well, don't know what happens to matrix, so set all StateBit :).</font>
01187                 ret.StateBit= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>|<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01188 
01189                 <font class="comment">// Check Trans state.</font>
01190                 <font class="keywordflow">if</font>(ret.a14!=0 || ret.a24!=0 || ret.a34!=0)
01191                         ret.StateBit|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01192                 <font class="keywordflow">else</font>
01193                         ret.StateBit&amp;= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01194 
01195                 <font class="comment">// Check Proj state.</font>
01196                 <font class="keywordflow">if</font>(ret.a41!=0 || ret.a42!=0 || ret.a43!=0 || ret.a44!=1)
01197                         ret.StateBit|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01198                 <font class="keywordflow">else</font>
01199                         ret.StateBit&amp;= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01200         }
01201 
01202         <font class="comment">// Do a speed 34 inversion.</font>
01203         <font class="comment">//=========================</font>
01204         <font class="keywordflow">else</font>
01205         {
01206                 <font class="comment">// Invert the rotation part.</font>
01207                 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>)
01208                 {
01209                         <font class="keywordflow">if</font>(!<a class="code" href="classNLMISC_1_1CMatrix.html#c1">slowInvert33</a>(ret))
01210                         {
01211                                 ret.identity();
01212                                 <font class="keywordflow">return</font> ret;
01213                         }
01214                 }
01215                 <font class="keywordflow">else</font>
01216                         <a class="code" href="classNLMISC_1_1CMatrix.html#c0">fastInvert33</a>(ret);
01217                 <font class="comment">// Scale33 is updated in fastInvert33().</font>
01218 
01219                 <font class="comment">// Invert the translation part.</font>
01220                 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>)
01221                 {
01222                         <font class="comment">// Invert the translation part.</font>
01223                         <font class="comment">// This can only work if 4th line is 0 0 0 1.</font>
01224                         <font class="comment">// formula: InvVp= InvVi*(-Vp.x) + InvVj*(-Vp.y) + InvVk*(-Vp.z)</font>
01225                         ret.a14= ret.a11*(-<a class="code" href="matrix_8cpp.html#a21">a14</a>) + ret.a12*(-<a class="code" href="matrix_8cpp.html#a22">a24</a>) + ret.a13*(-<a class="code" href="matrix_8cpp.html#a23">a34</a>);
01226                         ret.a24= ret.a21*(-<a class="code" href="matrix_8cpp.html#a21">a14</a>) + ret.a22*(-<a class="code" href="matrix_8cpp.html#a22">a24</a>) + ret.a23*(-<a class="code" href="matrix_8cpp.html#a23">a34</a>);
01227                         ret.a34= ret.a31*(-<a class="code" href="matrix_8cpp.html#a21">a14</a>) + ret.a32*(-<a class="code" href="matrix_8cpp.html#a22">a24</a>) + ret.a33*(-<a class="code" href="matrix_8cpp.html#a23">a34</a>);
01228                 }
01229                 <font class="keywordflow">else</font>
01230                 {
01231                         ret.a14= 0;
01232                         ret.a24= 0;
01233                         ret.a34= 0;
01234                 }
01235 
01236                 <font class="comment">// The projection part is unmodified.</font>
01237                 ret.a41= 0; ret.a42= 0; ret.a43= 0; ret.a44= 1;
01238 
01239                 <font class="comment">// The matrix inverted keep the same state bits.</font>
01240                 ret.StateBit= <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>;
01241         }
01242         
01243         
01244         <font class="keywordflow">return</font> ret;
01245 }
01246 <font class="comment">// ======================================================================================================</font>
<a name="l01247"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_8">01247</a> <font class="keywordtype">bool</font>            CMatrix::normalize(TRotOrder ro)
01248 {
01249 
01250         CVector ti,tj,tk;
01251         ti= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_7">getI</a>();
01252         tj= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_8">getJ</a>();
01253         tk= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_9">getK</a>();
01254 
01255         <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01256         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
01257 
01258         <font class="comment">// Normalize with help of ro</font>
01259         <font class="keywordflow">switch</font>(ro)
01260         {
01261                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s0">XYZ</a>:
01262                         ti.normalize();
01263                         tk= ti^tj;
01264                         tk.normalize();
01265                         tj= tk^ti;
01266                         <font class="keywordflow">break</font>;
01267                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s1">XZY</a>:
01268                         ti.normalize();
01269                         tj= tk^ti;
01270                         tj.normalize();
01271                         tk= ti^tj;
01272                         <font class="keywordflow">break</font>;
01273                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s2">YXZ</a>:
01274                         tj.normalize();
01275                         tk= ti^tj;
01276                         tk.normalize();
01277                         ti= tj^tk;
01278                         <font class="keywordflow">break</font>;
01279                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s3">YZX</a>:
01280                         tj.normalize();
01281                         ti= tj^tk;
01282                         ti.normalize();
01283                         tk= ti^tj;
01284                         <font class="keywordflow">break</font>;
01285                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s4">ZXY</a>:
01286                         tk.normalize();
01287                         tj= tk^ti;
01288                         tj.normalize();
01289                         ti= tj^tk;
01290                         <font class="keywordflow">break</font>;
01291                 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s5">ZYX</a>:
01292                         tk.normalize();
01293                         ti= tj^tk;
01294                         ti.normalize();
01295                         tj= tk^ti;
01296                         <font class="keywordflow">break</font>;
01297         }
01298 
01299         <font class="comment">// Check, and set result.</font>
01300         <font class="keywordflow">if</font>( ti.isNull() || tj.isNull() || tk.isNull() )
01301                 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01302         <a class="code" href="matrix_8cpp.html#a9">a11</a>= ti.x; <a class="code" href="matrix_8cpp.html#a13">a12</a>= tj.x; <a class="code" href="matrix_8cpp.html#a17">a13</a>= tk.x; 
01303         <a class="code" href="matrix_8cpp.html#a10">a21</a>= ti.y; <a class="code" href="matrix_8cpp.html#a14">a22</a>= tj.y; <a class="code" href="matrix_8cpp.html#a18">a23</a>= tk.y; 
01304         <a class="code" href="matrix_8cpp.html#a11">a31</a>= ti.z; <a class="code" href="matrix_8cpp.html#a15">a32</a>= tj.z; <a class="code" href="matrix_8cpp.html#a19">a33</a>= tk.z; 
01305         <font class="comment">// Scale is reseted.</font>
01306         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~(<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>);
01307         <font class="comment">// Rot is setup...</font>
01308         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
01309         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>=1;
01310 
01311         <font class="keywordflow">return</font> <font class="keyword">true</font>;
01312 }
01313 
01314 
01315 <font class="comment">// ======================================================================================================</font>
01316 <font class="comment">// ======================================================================================================</font>
01317 <font class="comment">// ======================================================================================================</font>
01318 
01319 
01320 <font class="comment">// ======================================================================================================</font>
<a name="l01321"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z294_0">01321</a> CVector         CMatrix::mulVector(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)<font class="keyword"> const</font>
01322 <font class="keyword"></font>{
01323 
01324         CVector ret;
01325 
01326         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
01327         {
01328                 ret.x= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01329                 ret.y= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01330                 ret.z= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01331                 <font class="keywordflow">return</font> ret;
01332         }
01333         <font class="keywordflow">else</font>
01334                 <font class="keywordflow">return</font> <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>;
01335 }
01336 
01337 <font class="comment">// ======================================================================================================</font>
<a name="l01338"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z294_1">01338</a> CVector         CMatrix::mulPoint(<font class="keyword">const</font> CVector &amp;<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)<font class="keyword"> const</font>
01339 <font class="keyword"></font>{
01340 
01341         CVector ret;
01342 
01343         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
01344         {
01345                 ret.x= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01346                 ret.y= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01347                 ret.z= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01348         }
01349         <font class="keywordflow">else</font>
01350         {
01351                 ret= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>;
01352         }
01353         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() )
01354         {
01355                 ret.x+= <a class="code" href="matrix_8cpp.html#a21">a14</a>;
01356                 ret.y+= <a class="code" href="matrix_8cpp.html#a22">a24</a>;
01357                 ret.z+= <a class="code" href="matrix_8cpp.html#a23">a34</a>;
01358         }
01359 
01360         <font class="keywordflow">return</font> ret;
01361 }
01362 
01363 
01364 <font class="comment">/*</font>
01365 <font class="comment"> * Multiply</font>
01366 <font class="comment"> */</font>
<a name="l01367"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z294_3">01367</a> CVectorH        CMatrix::operator*(<font class="keyword">const</font> CVectorH&amp; <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)<font class="keyword"> const</font>
01368 <font class="keyword"></font>{
01369 
01370         CVectorH ret;
01371 
01372         <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01373         <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
01374         <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
01375 
01376         ret.x= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a21">a14</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01377         ret.y= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a22">a24</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01378         ret.z= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a23">a34</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01379         ret.w= <a class="code" href="matrix_8cpp.html#a12">a41</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a16">a42</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a20">a43</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a24">a44</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01380         <font class="keywordflow">return</font> ret;
01381 }
01382 
01383 
01384 <font class="comment">// ======================================================================================================</font>
<a name="l01385"></a><a class="code" href="classNLMISC_1_1CMatrix.html#a301">01385</a> CPlane          <a class="code" href="namespaceNLMISC.html#a273">operator*</a>(<font class="keyword">const</font> CPlane &amp;p, <font class="keyword">const</font> CMatrix &amp;m)
01386 {
01387         <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01388         m.testExpandRot();
01389         m.testExpandProj();
01390 
01391 
01392         CPlane  ret;
01393 
01394         <font class="keywordflow">if</font>( m.StateBit &amp; (<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>) )
01395         {
01396                 <font class="comment">// Compose with translation too.</font>
01397                 ret.a= p.a*m.a11 + p.b*m.a21 + p.c*m.a31 + p.d*m.a41;
01398                 ret.b= p.a*m.a12 + p.b*m.a22 + p.c*m.a32 + p.d*m.a42;
01399                 ret.c= p.a*m.a13 + p.b*m.a23 + p.c*m.a33 + p.d*m.a43;
01400                 ret.d= p.a*m.a14 + p.b*m.a24 + p.c*m.a34 + p.d*m.a44;
01401                 <font class="keywordflow">return</font> ret;
01402         }
01403         <font class="keywordflow">else</font> <font class="keywordflow">if</font>( m.StateBit &amp; <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a> )
01404         {
01405 
01406                 <font class="comment">// Compose just with a translation.</font>
01407                 ret.a= p.a;
01408                 ret.b= p.b;
01409                 ret.c= p.c;
01410                 ret.d= p.a*m.a14 + p.b*m.a24 + p.c*m.a34 + p.d*m.a44;
01411                 <font class="keywordflow">return</font> ret;
01412         }
01413         <font class="keywordflow">else</font>    <font class="comment">// Identity!!</font>
01414                 <font class="keywordflow">return</font> p;
01415 }
01416 
01417 
01418 <font class="comment">// ======================================================================================================</font>
01419 <font class="comment">// ======================================================================================================</font>
01420 <font class="comment">// ======================================================================================================</font>
01421 
01422 
01423 <font class="comment">// ======================================================================================================</font>
<a name="l01424"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_4">01424</a> <font class="keywordtype">void</font>            CMatrix::setRot(<font class="keyword">const</font> CQuat &amp;quat)
01425 {
01426         <font class="comment">// A quaternion do not have scale.</font>
01427         <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&amp;= ~(<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>);
01428         <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
01429         <font class="keywordflow">if</font>(quat.isIdentity())
01430         {
01431                 <a class="code" href="matrix_8cpp.html#a9">a11</a>= 1; <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0; <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0; 
01432                 <a class="code" href="matrix_8cpp.html#a10">a21</a>= 0; <a class="code" href="matrix_8cpp.html#a14">a22</a>= 1; <a class="code" href="matrix_8cpp.html#a18">a23</a>= 0; 
01433                 <a class="code" href="matrix_8cpp.html#a11">a31</a>= 0; <a class="code" href="matrix_8cpp.html#a15">a32</a>= 0; <a class="code" href="matrix_8cpp.html#a19">a33</a>= 1; 
01434         }
01435         <font class="keywordflow">else</font>
01436         {
01437                 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
01438                 <font class="keywordtype">float</font> wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
01439 
01440                 <font class="comment">// calculate coefficients</font>
01441                 x2 = quat.x + quat.x; y2 = quat.y + quat.y; 
01442                 z2 = quat.z + quat.z;
01443                 xx = quat.x * x2;   xy = quat.x * y2;   xz = quat.x * z2;
01444                 yy = quat.y * y2;   yz = quat.y * z2;   zz = quat.z * z2;
01445                 wx = quat.w * x2;   wy = quat.w * y2;   wz = quat.w * z2;
01446 
01447                 <a class="code" href="matrix_8cpp.html#a9">a11</a> = 1.0f - (yy + zz);
01448                 <a class="code" href="matrix_8cpp.html#a13">a12</a> = xy - wz;
01449                 <a class="code" href="matrix_8cpp.html#a17">a13</a> = xz + wy;
01450 
01451                 <a class="code" href="matrix_8cpp.html#a10">a21</a> = xy + wz;
01452                 <a class="code" href="matrix_8cpp.html#a14">a22</a> = 1.0f - (xx + zz);
01453                 <a class="code" href="matrix_8cpp.html#a18">a23</a> = yz - wx;
01454 
01455                 <a class="code" href="matrix_8cpp.html#a11">a31</a> = xz - wy;
01456                 <a class="code" href="matrix_8cpp.html#a15">a32</a> = yz + wx;
01457                 <a class="code" href="matrix_8cpp.html#a19">a33</a> = 1.0f - (xx + yy);
01458         }
01459 }
01460 
01461 
01462 <font class="comment">// ======================================================================================================</font>
<a name="l01463"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_2">01463</a> <font class="keywordtype">void</font>            CMatrix::getRot(CQuat &amp;quat)<font class="keyword"> const</font>
01464 <font class="keyword"></font>{
01465         <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>   *pmat= <font class="keyword">this</font>;
01466         <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a>                 MatNormed;
01467 
01468 
01469         <font class="comment">// Rot Indentity?</font>
01470         <font class="keywordflow">if</font>(! (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>))
01471         {
01472                 quat= CQuat::Identity;
01473                 <font class="keywordflow">return</font>;
01474         }
01475 
01476         <font class="comment">// Must normalize the matrix??</font>
01477         <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> &amp; (<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
01478         {
01479                 MatNormed= *<font class="keyword">this</font>;
01480                 MatNormed.normalize(<a class="code" href="classNLMISC_1_1CMatrix.html#s6s5">ZYX</a>);
01481                 pmat= &amp;MatNormed;
01482         }
01483 
01484         <font class="comment">// Compute quaternion.</font>
01485         <font class="keywordtype">float</font>  tr, <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[4];
01486 
01487         tr = pmat-&gt;a11 + pmat-&gt;a22 + pmat-&gt;a33;
01488 
01489         <font class="comment">// check the diagonal</font>
01490         <font class="keywordflow">if</font> (tr &gt; 0.0)
01491         {
01492                 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = (float)sqrt (tr + 1.0f);
01493                 quat.w = <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> / 2.0f;
01494                 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = 0.5f / <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01495                 quat.x = (pmat-&gt;a32 - pmat-&gt;a23) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01496                 quat.y = (pmat-&gt;a13 - pmat-&gt;a31) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01497                 quat.z = (pmat-&gt;a21 - pmat-&gt;a12) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01498         }
01499         <font class="keywordflow">else</font>
01500         {               
01501                 sint    i, j, k;
01502                 sint    nxt[3] = {1, 2, 0};
01503 
01504                 <font class="comment">// diagonal is negative</font>
01505                 i = 0;
01506                 <font class="keywordflow">if</font> (pmat-&gt;a22 &gt; pmat-&gt;a11) i = 1;
01507                 <font class="keywordflow">if</font> (pmat-&gt;a33 &gt; pmat-&gt;mat(i,i) ) i = 2;
01508                 j = nxt[i];
01509                 k = nxt[j];
01510 
01511                 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = (float) sqrt (  (pmat-&gt;mat(i,i) - (pmat-&gt;mat(j,j) + pmat-&gt;mat(k,k)) )   + 1.0);
01512 
01513                 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[i] = <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> * 0.5f;
01514 
01515                 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> != 0.0f) <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = 0.5f / <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01516 
01517                 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[j] = (pmat-&gt;mat(j,i) + pmat-&gt;mat(i,j)) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01518                 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[k] = (pmat-&gt;mat(k,i) + pmat-&gt;mat(i,k)) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01519                 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[3] =   (pmat-&gt;mat(k,j) - pmat-&gt;mat(j,k)) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01520 
01521                 quat.x = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[0];
01522                 quat.y = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[1];
01523                 quat.z = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[2];
01524                 quat.w = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[3];
01525         }
01526 
01527 }
01528 
01529 
01530 <font class="comment">// ======================================================================================================</font>
01531 <font class="comment">// ======================================================================================================</font>
01532 <font class="comment">// ======================================================================================================</font>
01533 
01534 
01535 <font class="comment">// ======================================================================================================</font>
<a name="l01536"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_0">01536</a> <font class="keywordtype">void</font>            CMatrix::serial(IStream &amp;f)
01537 {
01538         <font class="comment">// Use versionning, maybe for futur improvement.</font>
01539         (void)f.serialVersion(0);
01540 
01541         <font class="keywordflow">if</font>(f.isReading())
01542                 <a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">identity</a>();
01543         f.serial(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>);
01544         f.serial(<a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>);
01545         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
01546         {
01547                 f.serial(<a class="code" href="matrix_8cpp.html#a9">a11</a>, <a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a17">a13</a>);
01548                 f.serial(<a class="code" href="matrix_8cpp.html#a10">a21</a>, <a class="code" href="matrix_8cpp.html#a14">a22</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>);
01549                 f.serial(<a class="code" href="matrix_8cpp.html#a11">a31</a>, <a class="code" href="matrix_8cpp.html#a15">a32</a>, <a class="code" href="matrix_8cpp.html#a19">a33</a>);
01550         }
01551         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() )
01552         {
01553                 f.serial(<a class="code" href="matrix_8cpp.html#a21">a14</a>, <a class="code" href="matrix_8cpp.html#a22">a24</a>, <a class="code" href="matrix_8cpp.html#a23">a34</a>);
01554         }
01555         <font class="keywordflow">else</font> <font class="keywordflow">if</font>(f.isReading())
01556         {
01557                 <font class="comment">// must reset because Pos must always be valid</font>
01558                 <a class="code" href="matrix_8cpp.html#a21">a14</a>= <a class="code" href="matrix_8cpp.html#a22">a24</a>= <a class="code" href="matrix_8cpp.html#a23">a34</a>= 0;
01559         }
01560         <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
01561         {
01562                 f.serial(<a class="code" href="matrix_8cpp.html#a12">a41</a>, <a class="code" href="matrix_8cpp.html#a16">a42</a>, <a class="code" href="matrix_8cpp.html#a20">a43</a>, <a class="code" href="matrix_8cpp.html#a24">a44</a>);
01563         }
01564 }
01565 
01566 
01567 
01568 
01569 }
01570 
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